The complaint, quadrupedal robot Bobcat is a cheap and easy to produce experimental platformfor dynamic locomotion. With the actuation design based on the Cheetah-Cub, it was developed in BIOROB extending morphology research with an active and compliant spine. The leg design features a 2-segmented compliant leg with an additional springy toe. The width between fore- and hind-shoulders is different to enable overlapping feet (often seen in the fast motion of animals). The spine actuation is achieved with a single RC servomotor, positioned in between fore and hind trunk-segment. Itsmovement range is 35deg in the saggital layer. A fully connected CPG-network resembling the one implemented on Cheetah-cub is used to control the robot. An additional oscillator node expands it for the spine actuation. Electronic hardware and power-supply are the same as in Cheetah-Cub.
Robust Walking Using Peicewise Linear Spring2014. Dynamic Walking 2014, ETH Zurich, Switzerland, June 10-13, 2014.
Use Your Spine! Effect of Active Spine Movements on Horizontal Impulse and Cost of Transport in a Bounding, Quadruped Robot2013. Dynamic Walking, Pittsburgh, USA, June, 2013.
Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot2013. 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6 – 10, 2013.
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